Data-Driven Event-Triggered Formation of MIMO Multiagent Systems With Constrained Information
Huarong Zhao, Jinjun Shan, Li Peng, Hongnian Yu
Abstract
This article investigates the information congestion problems for nonlinear discrete-time multi-input–multi-output multiagent systems (MASs) with fading channels when executing formation tasks. We first establish a virtual linear data model with a time-varying pseudo-Jacobian matrix variable for the MASs, which is independent of the dynamics model. Then, we formulate an event-triggered control scheme and a predictive compensation method to alleviate the communication burden and information congestion effects, respectively. Moreover, we propose two formation schemes for the MASs, considering limited communication resources, fading channels, and random delays to perform formation control and bipartite formation control tasks. The convergences of these two control protocols are strictly proved. Finally, simulations and hardware tests are conducted to verify the effectiveness of the proposed strategies.